Oh my gosh, this is so silly I cannot believe I'm posting this. My SO is not a very snuggly person but neither is LO.
My (50 lb) dog and I have a very symbiotic relationship. We spoon nightly in bed. He and I are almost always touching if we are in the house together. My SO is in the bed too, but he's over on his side.
I've co-sleeped with LO less than 5 times in her almost 3 years of life. But she sleeps much better on her own in her own space.